Cleanup comments and more
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src/LARS.cpp
45
src/LARS.cpp
@ -16,40 +16,23 @@
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*/
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LARS::LARS(int FRH, int FLH, int BRH, int BLH, int FRL, int FLL, int BRL, int BLL): reverse{0, 0, 0, 0, 0, 0, 0, 0}, trim{0, 0, 0, 0, 0, 0, 0, 0} {
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board_pins[FRONT_RIGHT_HIP] = FRH; // front right inner
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board_pins[FRONT_LEFT_HIP] = FLH; // front left inner
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board_pins[BACK_RIGHT_HIP] = BRH; // back right inner
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board_pins[BACK_LEFT_HIP] = BLH; // back left inner
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board_pins[FRONT_RIGHT_LEG] = FRL; // front right outer
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board_pins[FRONT_LEFT_LEG] = FLL; // front left outer // POSITIONS LOOKING FROM THE MIDDLE OF THE ROBOT!!!!!
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board_pins[BACK_RIGHT_LEG] = BRL; // back right outer
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board_pins[BACK_LEFT_LEG] = BLL; // back left outer
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LARS::LARS(): reverse{0, 0, 0, 0, 0, 0, 0, 0}, trim{0, 0, 0, 0, 0, 0, 0, 0} {
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}
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void LARS::init() {
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/*
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trim[] for calibrating servo deviation,
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initial posture (home) should like below
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in symmetric
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\ /
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\_____/
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| |
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|_____|
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/ \
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/ \
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*/
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/*
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trim[FRONT_LEFT_HIP] = 0;
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trim[FRONT_RIGHT_HIP] = -8;
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trim[BACK_LEFT_HIP] = 8;
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trim[BACK_RIGHT_HIP] = 5;
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void LARS::init(){
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init(26, 25, 17, 16, 27, 5, 23, 13); // Calling init with default values
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}
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trim[FRONT_LEFT_LEG] = 2;
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trim[FRONT_RIGHT_LEG] = -6;
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trim[BACK_LEFT_LEG] = 6;
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trim[BACK_RIGHT_LEG] = 5;
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*/
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void LARS::init(int FRH, int FLH, int BRH, int BLH, int FRL, int FLL, int BRL, int BLL) {
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board_pins[FRONT_RIGHT_HIP] = FRH; // front right inner
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board_pins[FRONT_LEFT_HIP] = FLH; // front left inner
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board_pins[BACK_RIGHT_HIP] = BRH; // back right inner
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board_pins[BACK_LEFT_HIP] = BLH; // back left inner
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board_pins[FRONT_RIGHT_LEG] = FRL; // front right outer
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board_pins[FRONT_LEFT_LEG] = FLL; // front left outer // POSITIONS LOOKING FROM THE MIDDLE OF THE ROBOT!!!!!
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board_pins[BACK_RIGHT_LEG] = BRL; // back right outer
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board_pins[BACK_LEFT_LEG] = BLL; // back left outer
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for (int i = 0; i < 8; i++) {
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oscillator[i].start();
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@ -24,8 +24,9 @@
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class LARS {
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public:
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LARS(int FRH = 26, int FLH = 25, int BRH = 17, int BLH = 16, int FRL = 27, int FLL = 5, int BRL = 23, int BLL = 13);
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LARS();
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void init();
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void init(int FRH = 26, int FLH = 25, int BRH = 17, int BLH = 16, int FRL = 27, int FLL = 5, int BRL = 23, int BLL = 13);
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void walk(int dir = 1, float steps = 1, float T = 800); // T initial 400
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void omniWalk(float steps, float T, bool side, float turn_factor);
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void turnL(float steps, float period);
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